is a switch mode variable that specifies the
operation of
electronic gearing for OPMODE 4:
GEARMODE = 0 - Encoder Follower, Flex I/O (Connector C3) Inputs: The
encoder
input channel is decoded as a quadrature input, scaled through GEARI /
GEARO,
and becomes the position command for the motor. The digital I/O
("Flex I/O") inputs serve as the encoder input channel (see Note
below for clarification).
GEARMODE = 1 - Pulse and Direction, Flex I/O (Connector C3) Inputs: The
encoder
input channel A counts positive edges and becomes the position command.
The
encoder input channel B level dictates if the counter will count up or
down.
Channel B low drives motor in CW direction. The digital I/O
("Flex
I/O") inputs serve as the encoder input channel (see Note below for
clarification).
GEARMODE = 2 - Up/Down Mode, Flex I/O (Connector C3) Inputs: The
encoder input
channel is configured as a counter to command the motor’s
position. Positive edges on the A channel increments the counter (motor
CW)
while positive edges on the encoder input channel B decrements the
counter
(motor CCW). The digital I/O ("Flex I/O") inputs serve as the encoder
input channel (see Note below for clarification).
GEARMODE = 3 - Encoder Follower, Remote Encoder (Connector C8) Inputs:
The
encoder input channel is decoded as a quadrature input, scaled through
GEARI /
GEARO, and becomes the position command for the motor. The remote
encoder
("handwheel") inputs serve as the encoder
input channel (see Note below for clarification).
GEARMODE = 4 - Pulse and Direction, Remote Encoder (Connector C8)
Inputs: The
encoder input channel A counts positive edges and becomes the position
command.
The encoder input channel B level dictates if the counter will count up
or
down. Channel B low drives motor in CW direction. The remote encoder ("handwheel") inputs serve as the encoder input
channel
(see Note below for clarification).
GEARMODE = 5 - Up/Down Mode, Remote Encoder (Connector C8) Inputs: The
encoder
input channel is configured as a counter to command the motor’s
position. Positive edges on the A channel increments the counter (motor
CW)
while positive edges on the encoder input channel B decrements the
counter
(motor CCW). The remote encoder ("handwheel")
inputs serve as the encoder input channel (see Note below for
clarification).
Note: if GEARMODE = 0-2, encoder A/B inputs are received via the digital "Flex I/O" inputs on connector C3 (see INx and INxMODE descriptions); if GEARMODE = 3-5, encoder A/B inputs are received via the remote encoder (sometimes called "handwheel") inputs on connector C8.
Note that each of these modes are subject to: GEARI, GEARO, GEAR, and DIR.
Firmware Versions: 2.1.0 and later
Type: switch mode (R/W) Range: 0 to 5
Units: n/a Default: 3
Opmodes: 4 Drive Status: dis EEPROM: yes